Nowhere in Israel is as bad as the American cities that have no pavement at all and basically force you to drive everywhere.
But That doesn't mean it's great either, both Tel Aviv and Jerusalem have their share of wide stroads that are uncomfortable for pedestrians and in Jerusalem (and many other places) it is the norm for cars to park on the pavement forcing pedestrians to walk on the road.
As for the "suburbs", it depends which part. The older parts are built as independent cities in similar style and density as any other city and with their own downtowns.
New construction though tends towards car centric "towers in the park" with curvy streets that don't lend themselves to efficient public transportation, and where you often have to walk a long and uncomfortable journey just to reach a shop.
An example of new suburban development:
